add CMake build system support

[anchao]

Summary

enhance cmake build system (Enhance #3704)

1. Update all CMakeLists.txt to adapt to new layout
2. Fix cmake build break
3. Update all new file license
4. Fully compatible with current compilation environment(use configure.sh or cmake as you choose)

---

How to test

From within nuttx/. Configure:

$ cmake -B build -DNUTTX_BOARD=arm/imx6/sabre-6quad -DNUTTX_CONFIG=smp -GNinja
$ cmake -B build -DNUTTX_BOARD=arm/tiva/lm3s6965-ek -DNUTTX_CONFIG=qemu-flat -GNinja
$ cmake -B build -DNUTTX_BOARD=sim/sim/sim -DNUTTX_CONFIG=nsh -GNinja

This uses ninja generator (install with sudo apt install ninja-build). To build:

$ cmake --build build

menuconfig:

$ cmake --build build -t menuconfig

---

Compilation speed:

| lm3s6965-ek/qemu-flat:
| Orignal     : $ time `./tools/configure.sh lm3s6965-ek/qemu-flat > /dev/null && make -j16 > /dev/null`
| CMake       : $ time `cmake -B build -DNUTTX_BOARD=arm/tiva/lm3s6965-ek -DNUTTX_CONFIG=qemu-flat > /dev/null;cmake --build build -j16 > /dev/null`
| CMake(Ninja): $ time `cmake -B build -DNUTTX_BOARD=arm/tiva/lm3s6965-ek -DNUTTX_CONFIG=qemu-flat -GNinja > /dev/null;cmake --build build -j16 > /dev/null`
|
|         Orignal        CMake     CMake(Ninja)
| real   0m9.982s     0m4.739s         0m4.475s
| user   1m5.336s    0m41.846s        0m37.434s
| sys   0m16.428s     0m9.239s         0m7.998s
|
|
| Orignal     : $ time `./tools/configure.sh sabre-6quad/smp > /dev/null && make -j16 > /dev/null`
| CMake       : $ time `cmake -B build -DNUTTX_BOARD=arm/imx6/sabre-6quad -DNUTTX_CONFIG=smp > /dev/null;cmake --build build -j16 > /dev/null`
| CMake(Ninja): $ time `cmake -B build -DNUTTX_BOARD=arm/imx6/sabre-6quad -DNUTTX_CONFIG=smp -GNinja > /dev/null;cmake --build build -j16 > /dev/null`
|
|         Orignal        CMake     CMake(Ninja)
| real  0m10.921s     0m3.936s         0m3.616s
| user  0m51.603s    0m32.621s        0m29.102s
| sys   0m13.720s     0m8.075s         0m6.460s

Signed-off-by: chao.an [email protected]

Impact

Depends on: https://github.com/apache/incubator-nuttx/pull/6718

Testing

cmake -B build -DNUTTX_BOARD=sim/sim/sim -DNUTTX_CONFIG=nsh -GNinja cmake -B build -DNUTTX_BOARD=arm/imx6/sabre-6quad -DNUTTX_CONFIG=smp -GNinja cmake -B build -DNUTTX_BOARD=arm/tiva/lm3s6965-ek -DNUTTX_CONFIG=qemu-flat -GNinja

[davids5]

@anchao Nice! - what are the times for touching one file and rebuilding

[anchao]

@anchao Nice! - what are the times for touching one file and rebuilding

the rebuilding time depends on whether the file has changed, please pick the changes and try it

[davids5]

Of course it depends on the file, I already know it is way faster, but besides the advantage shoring not only the CI cycle it will shorten the dev cycle and that is were the ROI on this is massive. I was hoping you would showcase that herein to make it very clear to all the project members.